Journal of System Simulation
Abstract
Abstract: To solve the dynamic tracking control of autonomous avoidance problem of the ＂Lanxin＂ Unmanned Surface Vehicle (USV) in the unknown ocean environment, by combining the unknown dynamic collision avoidance path planning and tracking control, a dynamic tracking control of autonomous avoidance method in the unknown ocean environment is presented. In this method, in consideration of the unknown ocean environment and real time dynamic obstacle avoidance, using a dynamic obstacle avoidance algorithm based on the velocity decomposition, a dynamic autonomous avoidance controller based on USV experimental platform is designed. Simulation results show that the method is effective and accurate, and it also can provide the reference for “Lanxin” USV intelligent collision avoidance control technology.
Recommended Citation
Fan, Yunsheng; Sun, Xiaojie; Wang, Guofeng; and Chen, Guo
(2019)
"Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle,"
Journal of System Simulation: Vol. 30:
Iss.
10, Article 23.
DOI: 10.16182/j.issn1004731x.joss.201810023
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol30/iss10/23
First Page
3781
Revised Date
2017-01-15
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.201810023
Last Page
3788
CLC
TP391.9
Recommended Citation
Fan Yunsheng, Sun Xiaojie, Wang Guofeng, Guo Chen. Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle[J]. Journal of System Simulation, 2018, 30(10): 3781-3788.
DOI
10.16182/j.issn1004731x.joss.201810023
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